def main():
rospy.init_node('csvout_cync_inhand_node')
while(True):
input_data = raw_input("input interval range(0,50): ")
if 0 < float(input_data) < 50:
interval = float(input_data)
print("interval sets ", interval)
break
elif input_data == "q":
print("exit")
rospy.signal_shutdown('finish')
else:
print("ERROR: invalid value")
# storing = Storing_dydata()
# mycsv_l = CSVoutput("thick_l(000).csv")
runvel = 0.01
file_name = "test" + str(interval) + "-" + str(runvel) + "_"
msg_list = [["/dynamixel_param/", dynamixel_param_msg()], ["/fingervision/fv_filter1_objinfo/", Filter1ObjInfo()], ["/dynamixel_data/", dynamixel_msg()]]
mycsv = CSVoutput(file_name, msg_list)
# start_record_client("l")
# start_record_client("r")
# print "start record!"
#subscribe設定
sub_fv_filtered1_objinfo = Subscribe("Filter1ObjInfo")
sub_dynamixel_data = Subscribe("dynamixel_data")
rospy.sleep(0.5)
rospy.Subscriber("/dynamixel_param", dynamixel_param_msg, lambda msg:mycsv.Storing([msg, sub_fv_filtered1_objinfo.req, sub_dynamixel_data.req]))
# set_interval_client(interval)
Go2itv_client(interval, runvel)
time_start = time.time()
print "ready OK!"
# while True:
# s = raw_input('type "q" to finish: ')
# print s=="q"
# if s=="q":
# mycsv.Write()
# # stop_record_client("l")
# # stop_record_client("r")
# break
while True:
if time.time()-time_start > 20:
mycsv.Write()
break
rospy.sleep(0.01)
set_interval_client(16.0)
rospy.signal_shutdown('finish')
rospy.spin()
def addsub():
data =json.loads(request.data)
# print(data)
Subscribe().subscribe(data['subemail'], data['events'])
return jsonify("nothing")
#! /usr/bin/python3
'''
@Author: Shuying Li <*****@*****.**>
@Date: 2020-02-14 16:16:53
@LastEditTime: 2020-06-28 12:42:03
@LastEditors: Shuying Li <*****@*****.**>
@Description:
@FilePath: /v2ray_cli/v2ray_cli.py
'''
import os
import configparser
from subscribe import Subscribe
cfg_pathname = "./cfg.conf"
json_template_pathname = "./config.json.template"
if __name__ == "__main__":
cfg = configparser.ConfigParser()
cfg.read(cfg_pathname, encoding='UTF-8')
if cfg["subscribe"]["url"] == "":
url = input("Please Enter The Subscription Address: ")
cfg["subscribe"] = {"url": url}
with open(cfg_pathname, 'w') as cfg_file:
cfg.write(cfg_file)
else:
url = cfg["subscribe"]["url"]
sub = Subscribe(url, json_template_pathname)
def __init__(self):
self.load_config()
self.anime = Anime(self.cache_dir)
self.downloader = Subscribe(self.list_path, self.cache_dir, self.aria2_url, self.aria2_dir)
from rub import Rubbing, PID
import yaml
from subscribe import Subscribe
from inhand_statemachine_util import Inhand
# from inhand_util import Inhand
file_name = "/home/suzuki/ros_ws/ay_tools/fingervision/suzuki/rubbing_hand/scripts/init_pos.yaml"
#ROSのpublisher設定
data_pub = rospy.Publisher("dynamixel_data", dynamixel_msg, queue_size=1)
param_pub = rospy.Publisher("dynamixel_param",
dynamixel_param_msg,
queue_size=1)
#subscribe設定
sub_fv_prox = Subscribe("ProxVision")
sub_fv_filtered1_objinfo = Subscribe("Filter1ObjInfo")
sub_fv_smaf = Subscribe("fv_smaf")
#Setup the device
DXL_ID = [1, 2, 3, 4] #Note: value and
# BAUDRATE= 57600
# BAUDRATE= 115200
BAUDRATE = 2e6
DXL_TYPE = 'XM430-W350'
dev = '/dev/ttyUSB0'
dxl = [
TDynamixel1(DXL_TYPE, dev),
TDynamixel1(DXL_TYPE, dev),
TDynamixel1(DXL_TYPE, dev),
TDynamixel1(DXL_TYPE, dev)
